#include <hpp/core/problem.hh>

Collaboration diagram for hpp::core::Problem:

Public Member Functions
	Problem ()

virtual	~Problem ()

virtual void	checkProblem () const
	Check that problem is well formulated. More...

const Parameter &	getParameter (const std::string &name) const

void	setParameter (const std::string &name, const Parameter &value)

Problem definition
const DevicePtr_t &	robot () const
	return shared pointer to robot. More...

const ConfigurationPtr_t &	initConfig () const
	Get shared pointer to initial configuration. More...

void	initConfig (const ConfigurationPtr_t &inConfig)
	Set initial configuration. More...

void	target (const ProblemTargetPtr_t &target)
	Set the target. More...

const ProblemTargetPtr_t &	target () const
	Get the target. More...

const Configurations_t &	goalConfigs () const
	Get number of goal configuration. More...

void	addGoalConfig (const ConfigurationPtr_t &config)
	Add goal configuration. More...

void	resetGoalConfigs ()
	Reset the set of goal configurations. More...

Steering method and distance function
void	steeringMethod (const SteeringMethodPtr_t &sm)

SteeringMethodPtr_t	steeringMethod () const
	Get steering method. More...

void	distance (const DistancePtr_t &distance)
	Set distance between configurations. More...

const DistancePtr_t &	distance () const
	Get distance between configuration. More...

Configuration validation
void	configValidation (const ConfigValidationsPtr_t &configValidations)

const ConfigValidationsPtr_t &	configValidations () const
	Get configuration validation methods. More...

void	resetConfigValidations ()

void	clearConfigValidations ()

void	addConfigValidation (const ConfigValidationPtr_t &configValidation)
	Add a config validation method. More...

Path validation
Set path validation method
virtual void	pathValidation (const PathValidationPtr_t &pathValidation)

PathValidationPtr_t	pathValidation () const
	Get path validation method. More...

Configuration shooter
Set configuration shooter method
void	configurationShooter (const ConfigurationShooterPtr_t &configurationShooter)

ConfigurationShooterPtr_t	configurationShooter () const
	Get path validation method. More...

Path projector
Set path projector method
void	pathProjector (const PathProjectorPtr_t &pathProjector)

PathProjectorPtr_t	pathProjector () const
	Get path projector method. More...

Constraints applicable to the robot
void	constraints (const ConstraintSetPtr_t &constraints)

const ConstraintSetPtr_t &	constraints () const
	Get constraint set. More...

Obstacles
void	addObstacle (const CollisionObjectPtr_t &object)

void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)

void	filterCollisionPairs ()

const ObjectStdVector_t &	collisionObstacles () const
	Vector of objects considered for collision detection. More...

void	collisionObstacles (const ObjectStdVector_t &collisionObstacles)
	Set the vector of objects considered for collision detection. More...

Static Public Member Functions
static ProblemPtr_t	create (DevicePtr_t robot)

static void	declareParameter (const ParameterDescription &desc)

static const Container< ParameterDescription > &	parameterDescriptions ()
	Get all the parameter descriptions. More...

static const ParameterDescription &	parameterDescription (const std::string &name)
	Access one parameter description. More...

Public Attributes
Container< Parameter >	parameters

Protected Member Functions
	Problem (DevicePtr_t robot)

void	init (ProblemWkPtr_t wkPtr)

Detailed Description

Defines a path planning problem for one robot. A path planning problem is defined by

a robot: instance of class hpp::pinocchio::Device,
a set of obstacles: a list of hpp::pinocchio::CollisionObject,
initial and goal configurations,
a SteeringMethod to handle the robot dynamics, Additional objects are stored in this object:
a method to validate paths,
a set of methods to validate configurations. Default methods are collision checking and joint bound checking.

Constructor & Destructor Documentation

◆ Problem() [1/2]

hpp::core::Problem::Problem ( )

Constructor without argument

Warning: do not use this constructor. It is necessary to define std::pairs <Problem, OtherType>.

◆ ~Problem()

virtual hpp::core::Problem::~Problem ( )

virtual

◆ Problem() [2/2]

hpp::core::Problem::Problem ( DevicePtr_t robot )

protected

Create a path planning problem.

Parameters

robot robot associated to the path planning problem.

Member Function Documentation

◆ addConfigValidation()

void hpp::core::Problem::addConfigValidation ( const ConfigValidationPtr_t & configValidation )

Add a config validation method.

◆ addGoalConfig()

void hpp::core::Problem::addGoalConfig ( const ConfigurationPtr_t & config )

Add goal configuration.

◆ addObstacle()

void hpp::core::Problem::addObstacle ( const CollisionObjectPtr_t & object )

Add obstacle to the list.

Parameters

object a new object.

◆ checkProblem()

virtual void hpp::core::Problem::checkProblem ( ) const

virtual

Check that problem is well formulated.

◆ clearConfigValidations()

void hpp::core::Problem::clearConfigValidations ( )

Clear the ConfigValidations by calling ConfigValidations::clear

◆ collisionObstacles() [1/2]

const ObjectStdVector_t& hpp::core::Problem::collisionObstacles ( ) const

Vector of objects considered for collision detection.

◆ collisionObstacles() [2/2]

void hpp::core::Problem::collisionObstacles ( const ObjectStdVector_t & collisionObstacles )

Set the vector of objects considered for collision detection.

◆ configurationShooter() [1/2]

void hpp::core::Problem::configurationShooter ( const ConfigurationShooterPtr_t & configurationShooter )

◆ configurationShooter() [2/2]

ConfigurationShooterPtr_t hpp::core::Problem::configurationShooter ( ) const

inline

Get path validation method.

◆ configValidation()

void hpp::core::Problem::configValidation ( const ConfigValidationsPtr_t & configValidations )

inline

Set configuration validation methods Before starting tos solve a path planning problem, the initial and goal configurations are checked for validity.

◆ configValidations()

const ConfigValidationsPtr_t& hpp::core::Problem::configValidations ( ) const

inline

Get configuration validation methods.

◆ constraints() [1/2]

void hpp::core::Problem::constraints ( const ConstraintSetPtr_t & constraints )

inline

Set constraint set

Parameters

constraints a set of constraints If problem contains a steering method, constraints are passed to the steering method.

◆ constraints() [2/2]

const ConstraintSetPtr_t& hpp::core::Problem::constraints ( ) const

inline

Get constraint set.

◆ create()

static ProblemPtr_t hpp::core::Problem::create ( DevicePtr_t robot )

static

Create a path planning problem.

Parameters

robot robot associated to the path planning problem.

◆ declareParameter()

static void hpp::core::Problem::declareParameter ( const ParameterDescription & desc )

static

Declare a parameter In shared library, use the following snippet in your cc file:

HPP_START_PARAMETER_DECLARATION(name)
Problem::declareParameter (ParameterDescription (
      Parameter::FLOAT,
      "name",
      "doc",
      Parameter(value)));
HPP_END_PARAMETER_DECLARATION(name)

◆ distance() [1/2]

void hpp::core::Problem::distance ( const DistancePtr_t & distance )

inline

Set distance between configurations.

◆ distance() [2/2]

const DistancePtr_t& hpp::core::Problem::distance ( ) const

inline

Get distance between configuration.

◆ filterCollisionPairs()

void hpp::core::Problem::filterCollisionPairs ( )

Build matrix of relative motions between joints

Loop over constraints in the current constraint set (see Problem::constraints) and for each LockedJoint and each constraints::RelativeTransformation, fill a matrix the column and rows represent joints and the values are the following

RelativeMotionType::Constrained when the two joints are rigidly fixed by the constraint,
RelativeMotionType::Parameterized when the two joints are rigidly fixed by the constraint, the relative position is a parameter constant along path, but that can change for different paths,
RelativeMotionType::Unconstrained when the two joints are not rigidly fixed by the constraint.

Note: the matrix is passed to the current configuration validation instance (Problem::configValidation) and to the current path validation instance (Problem::pathValidation).

◆ getParameter()

const Parameter& hpp::core::Problem::getParameter ( const std::string & name ) const

inline

Get a parameter named name.

Parameters

name	of the parameter.

◆ goalConfigs()

const Configurations_t& hpp::core::Problem::goalConfigs ( ) const

Get number of goal configuration.

◆ init()

void hpp::core::Problem::init ( ProblemWkPtr_t wkPtr )

protected

◆ initConfig() [1/2]

const ConfigurationPtr_t& hpp::core::Problem::initConfig ( ) const

inline

Get shared pointer to initial configuration.

◆ initConfig() [2/2]

void hpp::core::Problem::initConfig ( const ConfigurationPtr_t & inConfig )

Set initial configuration.

◆ parameterDescription()

static const ParameterDescription& hpp::core::Problem::parameterDescription ( const std::string & name )

static

Access one parameter description.

◆ parameterDescriptions()

static const Container<ParameterDescription>& hpp::core::Problem::parameterDescriptions ( )

static

Get all the parameter descriptions.

◆ pathProjector() [1/2]

void hpp::core::Problem::pathProjector ( const PathProjectorPtr_t & pathProjector )

inline

◆ pathProjector() [2/2]

PathProjectorPtr_t hpp::core::Problem::pathProjector ( ) const

inline

Get path projector method.

◆ pathValidation() [1/2]

virtual void hpp::core::Problem::pathValidation ( const PathValidationPtr_t & pathValidation )

virtual

◆ pathValidation() [2/2]

PathValidationPtr_t hpp::core::Problem::pathValidation ( ) const

inline

Get path validation method.

◆ removeObstacleFromJoint()

void hpp::core::Problem::removeObstacleFromJoint	(	const JointPtr_t &	joint,
		const CollisionObjectConstPtr_t &	obstacle
	)

Remove a collision pair between a joint and an obstacle

Parameters

joint	that holds the inner objects,
obstacle	to remove.

◆ resetConfigValidations()

void hpp::core::Problem::resetConfigValidations ( )

Reset the ConfigValidations by creating a new ConfigValidations using ConfigValidations::create

◆ resetGoalConfigs()

void hpp::core::Problem::resetGoalConfigs ( )

Reset the set of goal configurations.

◆ robot()

const DevicePtr_t& hpp::core::Problem::robot ( ) const

inline

return shared pointer to robot.

◆ setParameter()

void hpp::core::Problem::setParameter	(	const std::string &	name,
		const Parameter &	value
	)

Set a parameter named name.

Parameters

name	of the parameter.
value	value of the parameter

Exceptions

std::invalid_argument if a parameter exists but has a different type.

◆ steeringMethod() [1/2]

void hpp::core::Problem::steeringMethod ( const SteeringMethodPtr_t & sm )

inline

Set steering method

Parameters

sm	steering method. If problem contains constraints they are passed to the steering method.

◆ steeringMethod() [2/2]

SteeringMethodPtr_t hpp::core::Problem::steeringMethod ( ) const

inline

Get steering method.

◆ target() [1/2]

void hpp::core::Problem::target ( const ProblemTargetPtr_t & target )

inline

Set the target.

◆ target() [2/2]

const ProblemTargetPtr_t& hpp::core::Problem::target ( ) const

inline

Get the target.

Member Data Documentation

◆ parameters

Container< Parameter > hpp::core::Problem::parameters

The documentation for this class was generated from the following file:

include/hpp/core/problem.hh

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Problem() [1/2]

◆ ~Problem()

◆ Problem() [2/2]

Member Function Documentation

◆ addConfigValidation()

◆ addGoalConfig()

◆ addObstacle()

◆ checkProblem()

◆ clearConfigValidations()

◆ collisionObstacles() [1/2]

◆ collisionObstacles() [2/2]

◆ configurationShooter() [1/2]

◆ configurationShooter() [2/2]

◆ configValidation()

◆ configValidations()

◆ constraints() [1/2]

◆ constraints() [2/2]

◆ create()

◆ declareParameter()

◆ distance() [1/2]

◆ distance() [2/2]

◆ filterCollisionPairs()

◆ getParameter()

◆ goalConfigs()

◆ init()

◆ initConfig() [1/2]

◆ initConfig() [2/2]

◆ parameterDescription()

◆ parameterDescriptions()

◆ pathProjector() [1/2]

◆ pathProjector() [2/2]

◆ pathValidation() [1/2]

◆ pathValidation() [2/2]

◆ removeObstacleFromJoint()

◆ resetConfigValidations()

◆ resetGoalConfigs()

◆ robot()

◆ setParameter()

◆ steeringMethod() [1/2]

◆ steeringMethod() [2/2]

◆ target() [1/2]

◆ target() [2/2]

Member Data Documentation

◆ parameters